/*
 * Copyright 2025 The Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 *@file    : state.h
 *@brief   : state header 
 *@authors : zhanglei, zhanglei_723@126.com
 *@version : v1.0
 *@data    : 2025/8/30
 *
 */
#ifndef STATE_H
#define STATE_H

#include "common/se2.h"

using namespace std;

struct State {
	double timestamp;
	
	Eigen::Vector2d p;
	Eigen::Vector2d v;
	SO2 R;
	Eigen::Vector2d ba;
	double bg;

	Eigen::Matrix4d pose;
};

#endif
